Comparison of Guidance Modes for the AUV "Slocum Glider" in Time-Varying Ocean Flows

Comparison of Guidance Modes for the AUV "Slocum Glider" in Time-Varying Ocean Flows

This paper presents possibilities for the reliable guidance of an AUV "Slocum Glider" in time-varying ocean flows. The presented guidance modes consider the restricted information during a real mission about the actual position and ocean current conditions as well as the available control...

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Veröffentlicht in:arXiv.org 2017-02
Hauptverfasser: Eichhorn, Mike, Woithe, Hans Christian, Kremer, Ulrich
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Computer Science - Robotics
Gliders
Ocean currents
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description This paper presents possibilities for the reliable guidance of an AUV "Slocum Glider" in time-varying ocean flows. The presented guidance modes consider the restricted information during a real mission about the actual position and ocean current conditions as well as the available control modes of a glider. A faster-than-real-time, full software stack simulator for the Slocum glider will be described in order to test the developed guidance modes under real mission conditions.
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subjects Computer Science - Robotics
Gliders
Ocean currents
title Comparison of Guidance Modes for the AUV "Slocum Glider" in Time-Varying Ocean Flows
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